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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Mathieu Bresciani
0d6c2c8ce9
* ekf derivation: change to error state formulation * ekf2: update auto-generated code for error-state * ekf2: adjust ekf2 code for error state formulation * ekf2_tests: adjust unit tests for error-state EKF * update change indicator for error-state EKF * ekf2_derivation: allow disabling mag and wind states --------- Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include "EKF/ekf.h"
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#include "test_helper/comparison_helper.h"
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#include "../EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h"
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#include "../EKF/python/ekf_derivation/generated/state.h"
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using namespace matrix;
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TEST(MagDeclinationGenerated, declination90deg)
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{
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// GIVEN: an estimated mag declination of 90 degrees
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StateSample state{};
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state.mag_I(0) = 0.f; // North mag field
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state.mag_I(1) = 0.2f; // East mag field
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const float R = sq(radians(sq(0.5f)));
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SquareMatrixState P = createRandomCovarianceMatrix();
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VectorState H;
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float decl_pred;
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float innov_var;
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const float decl = radians(90.f);
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sym::ComputeMagDeclinationPredInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &decl_pred, &innov_var, &H);
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// THEN: Even at the singularity point, atan2 is still defined
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EXPECT_TRUE(innov_var < 5000.f && innov_var > R) << "innov_var = " << innov_var;
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EXPECT_LT(fabsf(wrap_pi(decl_pred - decl)), 1e-6f);
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}
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TEST(MagDeclinationGenerated, declinationUndefined)
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{
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// GIVEN: an undefined declination
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StateSample state{};
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state.mag_I(0) = 0.f; // North mag field
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state.mag_I(1) = 0.f; // East mag field
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const float R = sq(radians(sq(0.5f)));
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SquareMatrixState P = createRandomCovarianceMatrix();
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VectorState H;
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float decl_pred;
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float innov_var;
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const float decl = radians(0.f);
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sym::ComputeMagDeclinationPredInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &decl_pred, &innov_var, &H);
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// THEN: the innovation variance is gigantic but finite
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EXPECT_TRUE(PX4_ISFINITE(innov_var) && innov_var > R && innov_var > 1e9f) << "innov_var = " << innov_var;
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EXPECT_LT(fabsf(wrap_pi(decl_pred - decl)), 1e-6f);
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}
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